Ocean Engineering最新文献

英文中文

Research on the waterjet attainable thrust region of steering and reversing in self-propulsion 研究自推进中转向和反向的水射流可达到的推力区域

IF 4.6 2区工程技术 Q1 ENGINEERING, CIVIL

Ocean Engineering

Pub Date : 2025-03-15 DOI: 10.1016/j.oceaneng.2025.120930

Jiangming Ding , Teng Luo , Jiabing Jiang

Accurate attainable thrust region of waterjet system is one of the key techniques for developing ship maneuvering strategies, significantly impacting the success of vector control and dynamic positioning technologies. During the ship maneuvering, the hull drift angle affects the intake condition and then influences the waterjet thrust performance, altering both the range and the shape of the attainable thrust region. Based on a typical dual-waterjet propelled mono-hull, this paper numerically investigates the steering and reversing attainable thrust region under various drift angle conditions, where the variations of the attainable thrust region with the drift angle are obtained and the hydro-mechanism is analyzed. The results indicate that the drift angle induces a movement and a slight shape change of the attainable thrust region, and the force exerted by the intake flow on the duct is the main reason for these variations. Furthermore, the attainable thrust region under a given drift angle is functionalized as a formula for fast retrieval in the database of waterjet thrusts. The research can provide technical support for hydrodynamic modeling in vector control and dynamic positioning studies.

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引用次数: 0

Investigation of the effects of different array forms and float shapes on the hydrodynamic characteristics of floating photovoltaic systems under nearshore infragravity waves 不同阵列形式和浮筒形状对近岸次重力波下浮动光伏系统水动力特性的影响研究

IF 4.6 2区工程技术 Q1 ENGINEERING, CIVIL

Ocean Engineering

Pub Date : 2025-03-15 DOI: 10.1016/j.oceaneng.2025.120862

Zhengyuan Zhang , Wei Chai , Chun Bao Li , Mingsheng Chen

As nations worldwide continue advancing sustainable energy initiatives, nearshore floating photovoltaic (FPV) systems have emerged as promising solutions in green energy development. Among these, FPV systems based on frame structures stand out for their lightweight design and modular, detachable configurations, offering extensive application potential. This study examines how different array configurations and float shapes influence the hydrodynamic performance of FPV systems, aiming to identify optimal structural designs for nearshore infragravity wave conditions. To validate the numerical methodology employed, two experimental models were simulated, revealing strong agreement between the numerical and experimental results. For this validation, three array types (rectangle, hexagon, and triangle) and three float shapes (box, cylinder, and sphere) were designed following the equivalent principles of displacement, water-plane area, and panel count. Hydrodynamic analyses were conducted for various moored FPV systems to assess their motion responses under three distinct wave headings. The results indicate that array configurations exert a more pronounced effect on motion responses than float shapes do. Among the designs, the triangular array with spherical floats exhibited the most stable motion performance. On the basis of these findings, a novel FPV configuration was proposed, which achieves improved hydrodynamic performance under nearshore infrared wave conditions.

{"title":"Investigation of the effects of different array forms and float shapes on the hydrodynamic characteristics of floating photovoltaic systems under nearshore infragravity waves","authors":"Zhengyuan Zhang , Wei Chai , Chun Bao Li , Mingsheng Chen","doi":"10.1016/j.oceaneng.2025.120862","DOIUrl":"10.1016/j.oceaneng.2025.120862","url":null,"abstract":"<div><div>As nations worldwide continue advancing sustainable energy initiatives, nearshore floating photovoltaic (FPV) systems have emerged as promising solutions in green energy development. Among these, FPV systems based on frame structures stand out for their lightweight design and modular, detachable configurations, offering extensive application potential. This study examines how different array configurations and float shapes influence the hydrodynamic performance of FPV systems, aiming to identify optimal structural designs for nearshore infragravity wave conditions. To validate the numerical methodology employed, two experimental models were simulated, revealing strong agreement between the numerical and experimental results. For this validation, three array types (rectangle, hexagon, and triangle) and three float shapes (box, cylinder, and sphere) were designed following the equivalent principles of displacement, water-plane area, and panel count. Hydrodynamic analyses were conducted for various moored FPV systems to assess their motion responses under three distinct wave headings. The results indicate that array configurations exert a more pronounced effect on motion responses than float shapes do. Among the designs, the triangular array with spherical floats exhibited the most stable motion performance. On the basis of these findings, a novel FPV configuration was proposed, which achieves improved hydrodynamic performance under nearshore infrared wave conditions.</div></div>","PeriodicalId":19403,"journal":{"name":"Ocean Engineering","volume":"326 ","pages":"Article 120862"},"PeriodicalIF":4.6,"publicationDate":"2025-03-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143628952","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

The tight-coupled SLAM system based on LiDAR and improved VGICP method for waterfront environments

IF 4.6 2区工程技术 Q1 ENGINEERING, CIVIL

Ocean Engineering

Pub Date : 2025-03-14 DOI: 10.1016/j.oceaneng.2025.120934

Xun Chen , Yuanguang Lin , Xiaofei Yang , Shang Zhao

Simultaneous Localization and Mapping (SLAM) is the core for high-precision positioning and navigation of Unmanned Surface Vehicles (USVs). Existing LiDAR-based SLAM methods are primarily designed for terrestrial environments and often struggle to address the challenges posed by waterfront environments, such as unstructured settings, sparse features, and water surface fluctuations, which degrade localization accuracy. This paper proposes a tight-coupled SLAM approach based on a multi-factor optimization graph to discuss them. It employs an improved Voxel Generalized Iterative Closest Point (VGICP) algorithm to obtain initial odometry information. The state nodes in the multi-factor optimization graph can be optimized by dynamically adjusting the noise covariance of odometry, IMU, and loop-closure factors. It also effectively mitigates environmental noise and sensor errors, enhancing the precision and stability of pose estimation. We achieve high-precision localization and globally consistent map construction in waterfront environments by continuously updating the multi-factor optimization graph. Field tests are conducted on campus lakes and the results show that it is better than the mainstream approaches in accuracy and robustness.

{"title":"The tight-coupled SLAM system based on LiDAR and improved VGICP method for waterfront environments","authors":"Xun Chen , Yuanguang Lin , Xiaofei Yang , Shang Zhao","doi":"10.1016/j.oceaneng.2025.120934","DOIUrl":"10.1016/j.oceaneng.2025.120934","url":null,"abstract":"<div><div>Simultaneous Localization and Mapping (SLAM) is the core for high-precision positioning and navigation of Unmanned Surface Vehicles (USVs). Existing LiDAR-based SLAM methods are primarily designed for terrestrial environments and often struggle to address the challenges posed by waterfront environments, such as unstructured settings, sparse features, and water surface fluctuations, which degrade localization accuracy. This paper proposes a tight-coupled SLAM approach based on a multi-factor optimization graph to discuss them. It employs an improved Voxel Generalized Iterative Closest Point (VGICP) algorithm to obtain initial odometry information. The state nodes in the multi-factor optimization graph can be optimized by dynamically adjusting the noise covariance of odometry, IMU, and loop-closure factors. It also effectively mitigates environmental noise and sensor errors, enhancing the precision and stability of pose estimation. We achieve high-precision localization and globally consistent map construction in waterfront environments by continuously updating the multi-factor optimization graph. Field tests are conducted on campus lakes and the results show that it is better than the mainstream approaches in accuracy and robustness.</div></div>","PeriodicalId":19403,"journal":{"name":"Ocean Engineering","volume":"326 ","pages":"Article 120934"},"PeriodicalIF":4.6,"publicationDate":"2025-03-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143628947","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Ship domain models: Reviewing the advancements and exploring the future directions in the maritime autonomous surface ships

IF 4.6 2区工程技术 Q1 ENGINEERING, CIVIL

Ocean Engineering

Pub Date : 2025-03-14 DOI: 10.1016/j.oceaneng.2025.120935

Weifeng Li , Ke Cheng , Guoyou Shi , Robert Desrosiers , Xinjian Wang

Ship domain plays a crucial role in the realms of intelligent ship collision avoidance and marine traffic engineering. With the introduction of the concept of Maritime Autonomous Surface Ships (MASS) and relevant regulations, the process of ship intelligence and automation will accelerate, and the ship domain theory will also develop in a new direction under this trend. Currently, there are numerous ship domain models, but the factors considered in them are not comprehensive, and their application conditions are each limited. In view of this situation, this paper systematically sorts out the classic ship domain models and related research in recent years, covering from the definition and safety criteria of the ship domain to the research methods and the influencing factors taken into account. It also discusses the practical application scenarios of ship domain models. Moreover, it briefly describes the current development status of MASS as well as the challenges it faces, and puts forward the development and application directions of the ship domain theory in response to the needs of the MASS.

{"title":"Ship domain models: Reviewing the advancements and exploring the future directions in the maritime autonomous surface ships","authors":"Weifeng Li , Ke Cheng , Guoyou Shi , Robert Desrosiers , Xinjian Wang","doi":"10.1016/j.oceaneng.2025.120935","DOIUrl":"10.1016/j.oceaneng.2025.120935","url":null,"abstract":"<div><div>Ship domain plays a crucial role in the realms of intelligent ship collision avoidance and marine traffic engineering. With the introduction of the concept of Maritime Autonomous Surface Ships (MASS) and relevant regulations, the process of ship intelligence and automation will accelerate, and the ship domain theory will also develop in a new direction under this trend. Currently, there are numerous ship domain models, but the factors considered in them are not comprehensive, and their application conditions are each limited. In view of this situation, this paper systematically sorts out the classic ship domain models and related research in recent years, covering from the definition and safety criteria of the ship domain to the research methods and the influencing factors taken into account. It also discusses the practical application scenarios of ship domain models. Moreover, it briefly describes the current development status of MASS as well as the challenges it faces, and puts forward the development and application directions of the ship domain theory in response to the needs of the MASS.</div></div>","PeriodicalId":19403,"journal":{"name":"Ocean Engineering","volume":"326 ","pages":"Article 120935"},"PeriodicalIF":4.6,"publicationDate":"2025-03-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143620062","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A CFD simulation of 3D tsunami-like solitary wave propagation in a reef-lagoon-channel coastal system

IF 4.6 2区工程技术 Q1 ENGINEERING, CIVIL

Ocean Engineering

Pub Date : 2025-03-14 DOI: 10.1016/j.oceaneng.2025.120881

Yu Yao , Yuren Zeng , Ting Zhou , Changbo Jiang

There has been significant interest in post-tsunami surveys regarding how effective fringing reefs are at protecting coastlines from inundation caused by tsunamis. Limited attention has been given to the wave transformation characteristics and wave run-up dynamics within a complex reef-lagoon-channel system compared to the extensively studied two-dimensional horizontal fringing reefs. In response to this research gap, a three-dimensional numerical wave tank has been created, incorporating the incompressible Reynolds-averaged Navier-Stokes equations accompanied with k-ω SST turbulence model. The volume of fluid (VOF) strategy is employed to track the free surface, accompanied by advanced grid cascading encryption technology. Laboratory measurements (Swigler, 2009; Briggs et al., 1995) of the waves are utilized for model validation. The influence of incident wave height, reef flat submergence, fore-reef slope, and channel width on wave propagation characteristics were examined. The results reveal that the relative run-up decreases with larger wave heights and decreases near channels as reef flat submergences rise. Initially, smaller channels reduce relative run-up, but it increases again with widening, shifting the maximum relative run-up location away from the channel, while fore-reef slope changes minimally affect run-up.

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引用次数: 0

Dynamic analysis and stability evaluation of floating crane under heaving motion

IF 4.6 2区工程技术 Q1 ENGINEERING, CIVIL

Ocean Engineering

Pub Date : 2025-03-14 DOI: 10.1016/j.oceaneng.2025.120927

Zongyu Chang , Bowen Zhang , Haibo Wang , Wenqing Li , Zhipeng Zhou , Yang Zhang

Floating cranes are essential lifting equipment for engineering vessels. When lifting and transferring cargoes, the heaving motion of the vessel cause the lifted cargoes to swing, posing a safety hazard. In this study, the dynamic model of the floating crane is developed and simplified into a typical Mathieu equation, and the Floquet theory is used to analyze the Floquet multipliers, so as to distinguish the stable and unstable regions of floating crane operation. In different instability zones (corresponding to different rope length ranges), numerical simulations and experimental studies were conducted to investigate the dynamic response and stability of a floating crane during the lifting and lowering of cargo under heave motion. Comparing the experimental and simulation results, the dynamic response of the payload shows consistency. The results indicate that different rope lengths correspond to different instability zones due to varying natural frequencies. When the Floquet multiplier exceeds 1, the excitation frequency satisfies the parametric resonance condition of the corresponding instability zone, leading to unstable motion of the payload. The results also show that the lifting/lowering velocity has a weak impact on the stability, while the rope length is the key factor affecting the stability of the floating crane system. The findings of this study could provide guidance for offshore floating crane operations.

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引用次数: 0

GATransformer: A vessel trajectory prediction method based on attention algorithm in complex navigable waters

IF 4.6 2区工程技术 Q1 ENGINEERING, CIVIL

Ocean Engineering

Pub Date : 2025-03-14 DOI: 10.1016/j.oceaneng.2025.120902

Hang Yuan , Kezhong Liu , Xiaolie Wu , Yuerong Yu , Xuri Xin , Weiqiang Wang

The prediction of vessel trajectories plays a crucial role in ensuring maritime safety and promoting the scientific and efficient management of waterway traffic. In complex navigable waters, where vessels frequently encounter avoidance maneuvers and face intricate route intersections, the accuracy of vessel trajectory prediction is challenged. This paper proposes a vessel trajectory prediction model based on attention mechanism: GATransformer. A spatial encoder module is used to capture the spatial interaction patterns among vessels, while a temporal encoder module is employed to extract the temporal sequence information of vessel trajectories. Subsequently, the encoded spatiotemporal features are concatenated to achieve the fusion of trajectories’ spatiotemporal information. Finally, the trajectories at future time steps are predicted through a decoder. The spatial information of vessels is enriched by introducing the artificial feature of "distance between vessels and intersection nodes of the waterway network". Extensive comparisons between GATransformer model and baselines were conducted in a typical complex navigable water, Ningbo-Zhoushan Port. The experiment results indicate that the GATransformer model exhibits superior predictive performance, and the introduction of the feature "distance between vessels and intersection nodes of the waterway network” contributes to the improvement of accuracy in predicting vessel trajectories in complex navigable waters.

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引用次数: 0

An underwater visual SLAM system with adaptive image enhancement

IF 4.6 2区工程技术 Q1 ENGINEERING, CIVIL

Ocean Engineering

Pub Date : 2025-03-14 DOI: 10.1016/j.oceaneng.2025.120896

Gang Chen , Guoqiang Du , Chenguang Yang , Yidong Xu , Chuanyu Wu , Huosheng Hu , Fei Dong , Jinfeng Zeng

Underwater monocular visual simultaneous localization and mapping (SLAM) plays a crucial role in the navigation and localization of underwater robots. Low-light and turbid underwater environments pose significant challenges to the effectiveness and accuracy of these systems. This paper proposes a novel recognition algorithm based on the AquaVisNet model, designed specifically for such environments. Furthermore, an image enhancement algorithm tailored for these challenging environments is proposed that utilizes a serial-parallel fusion processing strategy. Such enhancement improves image quality significantly. Building on these advancements, an adaptive image enhancement ORB-SLAM (AIE-ORB-SLAM) system is presented for low-light and turbid underwater environments. The experimental results demonstrate that this system significantly outperforms the ORB-SLAM3 system in terms of various metrics. Under low-light, turbid, and combined conditions, the AIE-ORB-SLAM system improves the initialization time by 23.46%, 23.88%, and 81.69%, respectively; the tracking duration by 72.63%, 235.12%, and 294.29%, respectively; the number of keyframes by 74.71%, 140.00%, and 218.48%, respectively; the number of point clouds by 119.19%, 187.92%, and 317.11%, respectively; and the localization accuracy by 90.04%, 75.61%, and 66.81%, respectively. These results demonstrate that the proposed method significantly enhances the robustness and localization accuracy of underwater visual SLAM systems in low-light and turbid environments.

{"title":"An underwater visual SLAM system with adaptive image enhancement","authors":"Gang Chen , Guoqiang Du , Chenguang Yang , Yidong Xu , Chuanyu Wu , Huosheng Hu , Fei Dong , Jinfeng Zeng","doi":"10.1016/j.oceaneng.2025.120896","DOIUrl":"10.1016/j.oceaneng.2025.120896","url":null,"abstract":"<div><div>Underwater monocular visual simultaneous localization and mapping (SLAM) plays a crucial role in the navigation and localization of underwater robots. Low-light and turbid underwater environments pose significant challenges to the effectiveness and accuracy of these systems. This paper proposes a novel recognition algorithm based on the AquaVisNet model, designed specifically for such environments. Furthermore, an image enhancement algorithm tailored for these challenging environments is proposed that utilizes a serial-parallel fusion processing strategy. Such enhancement improves image quality significantly. Building on these advancements, an adaptive image enhancement ORB-SLAM (AIE-ORB-SLAM) system is presented for low-light and turbid underwater environments. The experimental results demonstrate that this system significantly outperforms the ORB-SLAM3 system in terms of various metrics. Under low-light, turbid, and combined conditions, the AIE-ORB-SLAM system improves the initialization time by 23.46%, 23.88%, and 81.69%, respectively; the tracking duration by 72.63%, 235.12%, and 294.29%, respectively; the number of keyframes by 74.71%, 140.00%, and 218.48%, respectively; the number of point clouds by 119.19%, 187.92%, and 317.11%, respectively; and the localization accuracy by 90.04%, 75.61%, and 66.81%, respectively. These results demonstrate that the proposed method significantly enhances the robustness and localization accuracy of underwater visual SLAM systems in low-light and turbid environments.</div></div>","PeriodicalId":19403,"journal":{"name":"Ocean Engineering","volume":"326 ","pages":"Article 120896"},"PeriodicalIF":4.6,"publicationDate":"2025-03-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143620061","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A finite-time adaptive intervention controller for underwater vehicle manipulator systems

IF 4.6 2区工程技术 Q1 ENGINEERING, CIVIL

Ocean Engineering

Pub Date : 2025-03-13 DOI: 10.1016/j.oceaneng.2025.120900

Xinhui Zheng , Qiyan Tian , Yuliang Wang , Qifeng Zhang , Naizhi He , Yunlong Fan , Xinbao Zhai , Xiaohui Wang

Underwater vehicle manipulator systems (UVMSs) control in intervention tasks is challenging because of the coupling effects between the system. To address this challenge, we propose a novel finite-time adaptive intervention controller (FTAIC) to control vehicle trajectories of a UVMS in intervention tasks without prior knowledge of the underwater manipulator. The coupling effects are modeled as a static component produced by gravity and buoyancy and a dynamic component produced by velocity and acceleration. First, the terminal sliding surface is exploited to guarantee the finite time convergence. Then, we design an adaptive law to estimate the static component and obtain more accurate dynamics of the UVMS system, and use a nonlinear disturbance observer to estimate the dynamic component and external disturbances. Subsequently, the proposed control law with the coupling effects and external disturbances compensation is given, and we prove the stability of the whole system. Extensive simulations are conducted on the Simurvplatform and demonstrate the better performance of the proposed method compared with that of conventional adaptive and robust controllers, with a fast convergence speed and smaller tracking errors. Experiments are demonstrated on the fly arm autonomous underwater manipulator system (FAAUMS), and illustrate wide promise of the FTAIC in real applications.

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引用次数: 0

Experimental assessment of speed adaptive track control of rudder-propeller-actuated ships based on model predictive control

IF 4.6 2区工程技术 Q1 ENGINEERING, CIVIL

Ocean Engineering

Pub Date : 2025-03-13 DOI: 10.1016/j.oceaneng.2025.120824

Hongwei He , José Villagómez Rosales , Thibaut Van Zwijnsvoorde , Evert Lataire , Guillaume Delefortrie

Model predictive control is applied for track control of rudder-propeller-actuated ships. Speed dependent Nomoto models are proposed by analysing experimental test data, and on the basis of them predictive models are developed for path following at different speeds and trajectory tracking. Parameters of the predictive models are estimated by utilizing the least square method driven by data from manoeuvring tests, such as acceleration tests, zigzag tests and track control tests. There are multiple choices for the form of the predictive model, the speed adaptive scheme for the predictive horizon and the scheme for generating the reference path and speed, and parameter variations are made for them to investigate the effect of different parameter settings. Hundreds of free running model tests are conducted in the Towing Tank for Manoeuvres in Confined Water, Antwerp, Belgium to validate the model predictive controller's performance in shallow water. For trajectory tracking, the desired speed is assigned at each waypoint, and 16 speed plans (combinations of decelerations and accelerations) are designed for testing. In addition, real cubic obstacles are installed in the tank to generate hydrodynamic interactions with the approaching ship model, and therefore the effect of the interactions is investigated by comparing the test results with and without the presence of the obstacles. Corresponding to the experimental tests, it is proved that the controller is speed adaptive, control accuracy for the path and the speed is very high with appropriate parameter settings, rudder-propeller interaction is considered in control, and ship-obstacle interaction affects negatively the control performance.

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